CN112874736A

CN112874736A - Marine ranching netting cleaning robot

Info

Publication number: CN112874736A
Application number: CN202110383580.7A
Authority: CN
Inventors: 陈东良; 姜立志; 刘桂芳; 周杰; 胡海东; 卢宇
Original assignee: Shenzhen Brilliant Ocean Technology Co ltd
Current assignee: Shenzhen Brilliant Ocean Technology Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-06-01

Abstract

The invention relates to the technical field of robots, in particular to a marine ranching netting cleaning robot which comprises a rack, a traveling mechanism, a rotary cleaning mechanism, a propeller thrust mechanism and a monitoring mechanism, wherein the traveling mechanism is arranged on the end surfaces of two sides of the rack; at least one rotary brushing mechanism and a propeller thrust mechanism are respectively arranged on one side of the frame facing to and departing from the surface to be brushed; the rotary brushing mechanism is used for cleaning a surface to be brushed, which passes through the walking frame, and the propeller thrust mechanism is used for adjusting the pose of the robot; the monitoring mechanism is used for monitoring the motion condition of the travelling mechanism and controlling the travelling mechanism, the rotary brushing mechanism and the propeller thrust mechanism to work according to monitoring information; the invention has the beneficial effects that: the arranged propeller thrust mechanism can ensure the motion stability of the robot and can adjust the underwater posture of the robot; the rotary brushing mechanism adopts a cavitation jet technology, and the brushing efficiency and the cleanliness are high.

Description

Marine ranching netting cleaning robot

Technical Field

The invention relates to the technical field of robots, in particular to a marine ranching netting cleaning robot.

Background

In recent years, modern marine ranches are rapidly developed, 86 national marine ranch demonstration areas are approved by the agricultural rural department of China as 1 month and 1 day in 2019, the number of national marine ranch demonstration areas in coastal China is increased to 178 by 2025, and the area of the marine ranches covering the sea area is increased to 2700 square kilometers.

Aiming at the problems that a large amount of shellfish organisms such as seaweeds and barnacles grow on the netting of the marine ranching, if the organisms cannot be cleaned in time, meshes are blocked, the oxygen content of a water body is reduced, the quality of the netting is increased, and the netting is deformed. In addition, the marine culture crops have the characteristic of high death speed, once the timely cleaning and maintaining time is missed, the marine ranch loses the corresponding economic benefit, environmental benefit and ecological benefit, even threatens the marine ecological balance, and aggravates the marine desertification.

The foreign marine ranch cleaning technology starts earlier, the cleaning mode is mainly high-pressure water cleaning, the domestic starting is later, the cleaning of the marine ranch netting is an urgent problem to be solved, and the cleaning mode adopted at present is also manual cleaning; or taking protective measures on the netting, such as: and coating a layer of anti-biological adhesion material on the surface of the netting, and periodically replacing the netting.

But the safety risk and great difficulty of manual brushing, and the brushing cost. Besides adopting a cleaning mode, other protective measures are as follows: the method can not solve the problem of attaching organisms on the netting fundamentally or has the problem of high cost in the measures of cleaning marine organisms.

Disclosure of Invention

The invention aims to provide a marine ranching netting cleaning robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a robot for cleaning netting of a marine ranching comprises a frame, a traveling mechanism, a rotary cleaning mechanism, a propeller thrust mechanism and a monitoring mechanism, wherein the traveling mechanism is installed on the end faces of two sides of the frame and used for driving the frame to travel on a surface to be cleaned; at least one rotary brushing mechanism and a propeller thrust mechanism are respectively arranged on one side of the frame facing to and departing from the surface to be brushed; the rotary brushing mechanism is used for cleaning a surface to be brushed, which passes through the walking of the rack, and the propeller thrust mechanism is used for adjusting the pose of the rack; the monitoring mechanism is used for monitoring the motion condition of the travelling mechanism and controlling the travelling mechanism, the rotary brushing mechanism and the propeller thrust mechanism to work according to monitoring information.

As a further scheme of the invention: the frame includes support piece, installed part, at least two the installed part passes through support piece relative setting.

As a still further scheme of the invention: and a floating body group for providing buoyancy for the frame is arranged between the mounting pieces.

As a still further scheme of the invention: the walking mechanism comprises a walking driving part and a plurality of crawler groups, wherein the crawler groups are oppositely arranged on the end faces of the two sides of the rack in pairs, the crawler groups on the same side are connected through a transmission belt, the walking driving part and the crawler groups are coaxially arranged, and the walking driving part drives the crawler groups to rotate.

As a still further scheme of the invention: and the frame is provided with an adjusting part connected with the transmission belt, and the tension of the transmission belt is adjusted through the adjusting part.

As a still further scheme of the invention: rotatory brush-cleaning mechanism including the brush-cleaning driving piece, with the bearing that the transmission of brush-cleaning driving piece is connected is installed clean brush dish in the frame, install at least two sets of nozzle groups on the clean brush dish, the nozzle group is connected with the high pressure water supply end through connecting line, the brush-cleaning driving piece drives clean brush dish and rotates so that nozzle group produces cavitation jet.

As a still further scheme of the invention: the nozzle group at least comprises two nozzles, and the water spraying directions of the two nozzles form an included angle.

As a still further scheme of the invention: and part of the propeller thrust mechanisms are rectangular or square and are arranged on the rack in the middle of the walking mechanism, and the other part of the propeller thrust mechanisms are arranged at the geometric center of the propeller thrust mechanisms.

As a still further scheme of the invention: the monitoring mechanism comprises a control module, a camera module and a power supply module, the camera module is connected with the control module, the camera module is used for monitoring the motion condition of the travelling mechanism and transmitting the motion condition to the control module, the control module controls the travelling mechanism, the rotary cleaning mechanism and the propeller thrust mechanism to work according to monitoring information transmitted by the camera module, and the power supply module provides electric energy.

As a still further scheme of the invention: the control module is in communication connection with a remote operation end, and the remote operation end remotely controls the work of the marine ranching netting cleaning robot through the control module.

Compared with the prior art, the invention has the beneficial effects that: the arranged propeller thrust mechanism can ensure the motion stability of the robot under severe conditions, and simultaneously, the underwater posture of the robot is adjusted by controlling the forward rotation and the reverse rotation of part of the propeller thrust mechanism; the walking mode of the walking mechanism conforms to the netting, the texture is soft, and the netting cannot be damaged; the rotary brushing mechanism adopts a cavitation jet technology to brush netting in a large area, and the brushing efficiency and the cleanliness are high.

Drawings

Fig. 1 is a schematic structural diagram of a marine ranch netting cleaning robot in an embodiment provided by the invention.

Fig. 2 is a schematic structural diagram ii of a marine ranching netting cleaning robot in an embodiment provided by the present invention.

Fig. 3 is a schematic structural diagram three of the marine ranch netting cleaning robot in one embodiment provided by the invention.

Fig. 4 is a schematic structural diagram of a walking mechanism in an embodiment provided by the invention.

Fig. 5 is a schematic structural diagram of a rotary brushing mechanism according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of a propeller thrust mechanism in an embodiment of the present invention.

In the drawings: 1. a double-sided tooth synchronous belt; 2. stainless steel square tubes; 3. a traveling mechanism; 4. a frame upper plate; 5. an LED lamp; 6. a motion camera; 7. a stainless steel plate I; 8. a rotary brushing mechanism; 9. a propeller thrust mechanism; 10. a control module; 11. a motor controller; 12. a frame lower plate; 13. a switching power supply; 14. a quick coupling; 15. an electric wire; 16. one inlet four outlet shunt rows; 17. a wire protective cover; 18. a hoisting ring; 19. a stainless steel plate II; 20. a high pressure water pipe; 21. a lifting ring screw; 22. a handle; 23. a floating body I; 24. a synchronous belt; 25. a propeller protective cover; 26. a screw rod; 27. a bearing seat; 28. a tension wheel; 31. a first travel mechanism; 32. a second traveling mechanism; 33. a third travel mechanism; 34. a fourth travelling mechanism; 311. a pulley; 312. a floating body II; 313. a support pulley; 314. a drive pulley; 315. a motor bearing seat; 316. a drum motor; 317. an upper clamp member; 318. a lower clamp member; 319. framework sealing I; 81. a first rotary brushing mechanism; 82. a second rotary brushing mechanism; 83. a third rotary brushing mechanism; 84. a fourth rotary brushing mechanism; 811. sealing the clamping piece I; 812. sealing the clamping piece II; 813. an aluminum round tube; 814. a water gun motor; 815. a sealing cover; 816. a flange; 817. a water gun synchronous belt; 818. a motor pulley; 819. an inclined nozzle; 8110. a nozzle; 8111. cleaning a disc; 8112. a water gun belt wheel; 8113. a water gun outer cover; 8114. a water gun interface; 91. a first propeller thrust mechanism; 92. a second propeller thrust mechanism; 93. a third propeller thrust mechanism; 94. a fourth propeller thrust mechanism; 95. a fifth propeller thrust mechanism; 911. a propeller motor; 912. a propeller fixing seat; 913. a motor seal; 914. a coupling; 915. a nut; 916. a pin; 917. framework sealing II; 918. a propeller blade; 919. and (5) sealing the oil cover.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Referring to fig. 1-3, in an embodiment of the present invention, a marine ranching netting cleaning robot includes a frame, a traveling mechanism 3, a rotary cleaning mechanism 8, a propeller thrust mechanism 9, and a monitoring mechanism, where the traveling mechanism 3 is installed on two side end faces of the frame, and is used for driving the frame to travel on a surface to be cleaned; at least one rotary brushing mechanism and a propeller thrust mechanism are respectively arranged on one side of the frame facing to and departing from the surface to be brushed; the rotary brushing mechanism is used for cleaning a surface to be brushed, which passes through the walking of the rack, and the propeller thrust mechanism is used for adjusting the pose of the rack; the monitoring mechanism is used for monitoring the motion condition of the travelling mechanism and controlling the travelling mechanism, the rotary brushing mechanism and the propeller thrust mechanism to work according to monitoring information.

Specifically, the frame includes support piece, installed part, at least two the installed part passes through support piece relative setting. The installed part includes frame upper plate 5 and frame hypoplastron 12, support piece adopts stainless steel square pipe 2, frame upper plate 5 and frame hypoplastron 12 set up through stainless steel square pipe 2 is relative stainless steel I7 is installed to stainless steel square pipe 2's both ends fixed mounting, and stainless steel I7 installs in the border department of frame hypoplastron 12, and upper and lower parcel is totally 12, guarantees skeleton strength. Further, stainless steel square pipe 2 is total two, places according to the length direction of frame, welds respectively below stainless steel I7, guarantees rigidity, for the lightweight design, and stainless steel I7 of stainless steel square pipe both ends welding increases the robot buoyancy, reduces the unnecessary body, has sufficient rigidity, can effectively avoid the robot to receive the impact and cause the damage. In order to facilitate taking the robot, the handle 22 is arranged on the stainless steel plate I7, so that the robot is convenient to take and carry.

As shown in fig. 1, there are four traveling mechanisms, which are a first traveling mechanism 31, a second traveling mechanism 32, a third traveling mechanism 33 and a fourth traveling mechanism 34, respectively, where the first traveling mechanism 31 and the second traveling mechanism 32 are installed on the same side, and the third traveling mechanism 33 and the fourth traveling mechanism 34 are installed on the same side; the number of the rotary cleaning mechanisms is four, and the four rotary cleaning mechanisms are respectively a first rotary cleaning mechanism 81, a second rotary cleaning mechanism 82, a third rotary cleaning mechanism 83 and a fourth rotary cleaning mechanism 84 which are linearly arranged on the rack; as shown in fig. 2, there are five propeller thrust mechanisms, namely a first propeller thrust mechanism 91, a second propeller thrust mechanism 92, a third propeller thrust mechanism 93, a fourth propeller thrust mechanism 94 and a fifth propeller thrust mechanism 95; the first propeller thrust mechanism 91, the second propeller thrust mechanism 92, the third propeller thrust mechanism 93 and the fifth propeller thrust mechanism 95 are distributed on four points in a rectangular shape, and the robot is turned by controlling the forward and reverse rotation of the four points; the fourth propeller thrust mechanism 94 is arranged in the middle of four points which are distributed in a rectangular mode, and the robot can be stably adsorbed on the netting through more water flow. The first propeller thrust mechanism 91, the second propeller thrust mechanism 92, the third propeller thrust mechanism 93, the fourth propeller thrust mechanism 94, and the fifth propeller thrust mechanism 95 are provided with propeller protection covers 25 correspondingly.

As shown in fig. 2 and 3, in the present embodiment, a floating body group for providing buoyancy for the frame is arranged between the mounting pieces; in particular to a floating body group formed by splicing floating bodies I23, which is connected with 16 lead screws 26 through 4 lifting ring screws 21.

The working process of the cleaning robot for the netting of the marine ranching is as follows:

operating personnel places the clear robot of brushing in the marine ranch through lifting by crane transport machinery, and the robot becomes 45 contained angles about with the sea level, first screw thrust mechanism is rotatory according to a direction to fifth screw thrust mechanism simultaneously, adsorbs the robot on the netting, adjusts each screw thrust mechanism's screw rotational speed according to the sea water velocity of flow, and then adjusts the adsorption affinity size. When the robot needs to realize turning motion, the robot can turn left and right when the first propeller thrust mechanism and the second propeller thrust mechanism and the third propeller thrust mechanism and the fifth propeller thrust mechanism turn in opposite directions; when the first propeller thrust mechanism and the fifth propeller thrust mechanism and the second propeller thrust mechanism and the third propeller thrust mechanism are opposite in direction, the robot can turn back and forth. After the robot is adsorbed to the marine ranch, the rotating speeds of the first walking mechanism to the fourth walking mechanism are the same, and the robot is driven to move forwards on the netting. When the robot needs to turn, the first to fourth traveling mechanisms perform differential motions, such as: the speed of the first running mechanism is consistent with that of the second running mechanism, the speed of the third running mechanism is consistent with that of the fourth running mechanism, left turning can be realized when the first running mechanism and the second running mechanism are high in speed, and right turning can be realized when the third running mechanism and the fourth running mechanism are high in speed. The four rotary cleaning and brushing mechanisms transmit signals through the monitoring mechanism and then simultaneously perform rotary motion, and high-pressure water forms cavitation water jet through the rotary cleaning and brushing mechanisms to clean marine organisms on the netting. The underwater video transmitted back to the robot in real time through the monitoring mechanism feeds back the brushing effect, and the posture of the robot is adjusted in time.

In conclusion, the propeller thrust mechanism arranged in the marine ranching netting cleaning robot can ensure the motion stability of the robot under severe conditions, and simultaneously, the underwater posture of the robot is adjusted by controlling the forward rotation and the reverse rotation of the propeller thrust mechanism of the part; the walking mode of the walking mechanism conforms to the netting, the texture is soft, and the netting cannot be damaged; the rotary brushing mechanism adopts a cavitation jet technology to brush netting in a large area, and the brushing efficiency and the cleanliness are high.

Referring to fig. 4, in another embodiment provided by the present invention, the traveling mechanism includes a traveling driving member and track groups, the track groups are installed on two side end surfaces of the rack in a pair-wise opposite manner, the track groups on the same side are connected by a transmission belt, the traveling driving member and the track groups are coaxially installed, and the traveling driving member drives the track groups to rotate.

Specifically, the walking driving part comprises a roller motor 316, a belt wheel 311 and a supporting belt wheel 313, wherein the belt wheel 311 and the supporting belt wheel 313 are sleeved on the roller motor 316 at intervals; the belt wheels are distributed at a certain distance, the inner vacant part is filled with a floating body II312, the belt wheels and the floating body are sleeved on a roller motor 316, and the outside is wrapped with a layer of synchronous belt 24 to form a crawler belt module. Three crawler belt modules are arranged on each roller motor 316 to form a crawler belt group, and the distance between the crawler belt modules in the crawler belt group is zero. The four crawler belt groups in the embodiment are oppositely arranged in pairs. The tip of cylinder motor 316 sets up a driving pulley 314, and driving pulley 314 connects two-sided tooth hold-in range 1, and two-sided tooth hold-in range 1 is connected as the drive belt and with the driving pulley on another cylinder motor, carries out the same speed motion. The roller motor is tightly connected with the floating body 312, the belt wheel and the synchronous belt 24; when the drum motor is energized, the float 312, the pulley, and the timing belt 24 rotate together to form the traveling mechanism 3. The tail end shaft of the roller motor 316 is matched with the deep groove ball bearing and the bearing seat 315, the bearing seat 315 is connected with the lower rack plate 12, the wire outlet end shaft of the roller motor 316 is connected with an upper clamping piece 317 and a lower clamping piece 318, the upper clamping piece 317 and the lower clamping piece 318 are connected to the lower rack plate 12, and the wire outlet end shaft is clamped through the upper clamping piece 317 and the lower clamping piece 318, so that the rotary motion of the roller motor is realized; a framework seal I319 is arranged to seal the outlet end shaft of the roller motor 316, so that good waterproofness of the roller motor is guaranteed.

Furthermore, the frame is provided with an adjusting part connected with the transmission belt, and the tension of the transmission belt is adjusted through the adjusting part. The adjusting member adopts a tension wheel 28, the tension wheel 28 is fixed on the lower frame plate 12 through a bearing seat 27, and the tension wheel 28 is arranged below the double-sided tooth synchronous belt 1 for tensioning. The adjusting piece can adapt to the tightness of the double-sided tooth synchronous belt 1 within a certain range, and further ensures good adsorbability and stability of the robot in the walking process.

Referring to fig. 5, in another embodiment provided by the present invention, the rotary brushing mechanism includes a brushing driving member, and a brushing disc 816 mounted on the frame and connected to the brushing driving member through a bearing, the brushing disc is mounted with at least two nozzle sets, the nozzle sets are connected to a high-pressure water supply end through a connection pipeline, and the brushing driving member drives the brushing disc to rotate so that the nozzle sets generate cavitation jets.

Specifically, the cleaning driving member comprises a water gun motor 814 and a motor belt wheel 818 arranged at the output end of the water gun motor 814, the water gun motor 814 is arranged in an aluminum round pipe 813, a sealing cover 815 is arranged on the aluminum round pipe 813, an O-shaped ring with a sealing and waterproof effect is arranged in the aluminum round pipe 813, and the sealing cover 815 is clamped by a sealing and clamping member I811 and a sealing and clamping member II 812. The motor belt wheel 818 is connected with a water gun belt wheel 8112 through a water gun synchronous belt 817, the water gun belt wheel 8112 is installed on a water gun interface 8114, the water gun interface 8114 is installed on the side of a water gun motor 814 through a water gun outer cover 8113, and the water gun motor 814 and the water gun outer cover 8113 are connected onto the flange 816; and the height of the flange 816 is adjustable. A deep groove ball bearing is arranged between the water gun interface and the water gun outer cover 8113, and an O-shaped ring is arranged in the water gun outer cover 8113 to realize sealing; one end of the water gun interface is communicated with a four-inlet shunt discharge 16 through a high-pressure water pipe 20, the other end of the water gun interface is communicated with a nozzle group arranged on the cleaning disc, and the four-inlet shunt discharge 16 is communicated with a high-pressure water supply end, as shown in figure 2. The nozzle group at least comprises two nozzles 8110, the water spraying directions of the two nozzles form an included angle, and one of the two nozzles is an inclined nozzle 819. The high pressure water forms the marine organism on cavitation water jet with the netting through the nozzle and washes totally, because the nozzle carries out rotary motion and combines the robot to advance around the central line of brushing the dish, and the route of brushing will be the helix, and the slant nozzle makes the water jet of two brushing mechanisms have the coincidence part, and the effect of brushing is better.

Furthermore, each squirt has 4 nozzles, and the effect of cleaning and brushing is better, and the operator will feed back the effect of cleaning and brushing through the video under water that monitoring mechanism real-time transmission comes back to in time adjust the gesture of robot.

In addition, the one-in-four-out shunt discharge 16 is installed on the rack through a stainless steel plate II19, and the electric components of the monitoring mechanism are also installed and fixed through a stainless steel plate II 19.

As shown in fig. 1 and 6, a part of the propeller thrust mechanisms are rectangular or square and are mounted on the frame in the middle of the traveling mechanism, and the other part of the propeller thrust mechanisms are arranged at the geometric center of the part of the propeller thrust mechanisms.

Specifically, four propeller thrust mechanisms are arranged on the frame in the middle of the walking mechanism in a rectangular or square shape, and one propeller thrust mechanism is arranged at the geometric center of part of the propeller thrust mechanisms; the propeller thrust mechanism comprises a propeller motor 911, the propeller motor 911 is fixed on the lower plate of the rack through a propeller fixing seat 912, an output shaft of the propeller motor 911 is connected with a coupler 914, the coupler 914 is connected with propeller blades 918 through pins 916 for transmission, and nuts 915 are arranged for screwing. The upper end of the propeller motor 911 is dynamically sealed by an oil seal cover 919 and a framework seal II917, oil is injected into the oil seal cover to lubricate and prevent seawater from entering, and the lower end is sealed by a motor seal piece 913.

In one embodiment, as shown in fig. 1-2, the monitoring mechanism includes a control module, a camera module connected to the control module, and a power supply module, the camera module is used for monitoring the movement of the traveling mechanism and transmitting the movement to the control module, the control module controls the operation of the traveling mechanism, the rotating and brushing mechanism, and the propeller thrust mechanism according to the monitoring information transmitted by the camera module, and the power supply module provides electric energy.

The control module 10 adopts a control chip, the model of which can be selected from ATmega128, and the control chip controls a roller motor of the travelling mechanism through a motor controller 11; the camera module adopts a motion camera 6 and is provided with an LED lamp 5, and the LED lamp 5 provides illumination; the power supply module adopts a switching power supply 13, 220V cables supply power to the switching power supply 13, after the switching power supply, the voltage drop is 24V, and the switching power supply 13 supplies power for a roller motor, a propeller motor, a water gun motor, an LED lamp and a motion camera. The electric wire 15 of the switching power supply and the quick connector 14 of the one-in four-out shunt row 16 are respectively fixed on the stainless steel plate II19, and the lifting ring 18 is arranged on the stainless steel plate II19, so that the electric parts can be conveniently and quickly detached. And an electric wire protective cover 17 is arranged at the interface of the electric wire, so that the electric wire protective cover has waterproofness.

Furthermore, the control module is in communication connection with a remote operation end, and the remote operation end remotely controls the work of the marine ranching netting cleaning robot through the control module.

The remote operation end adopts a remote controller, and the remote controller is in communication connection with a communication module of the control chip to realize data transmission and exchange.

The working principle of the invention is as follows: the first propeller thrust mechanism to the fifth propeller thrust mechanism rotate simultaneously in one direction, the robot is adsorbed to the netting, and the propeller rotating speed of each propeller thrust mechanism is adjusted according to the flowing speed of seawater, so that the adsorption force is adjusted. When the robot needs to realize turning motion, the robot can turn left and right when the first propeller thrust mechanism and the second propeller thrust mechanism and the third propeller thrust mechanism and the fifth propeller thrust mechanism turn in opposite directions; when the first propeller thrust mechanism and the fifth propeller thrust mechanism and the second propeller thrust mechanism and the third propeller thrust mechanism are opposite in direction, the robot can turn back and forth. After the robot is adsorbed to the marine ranch, the rotating speeds of the first walking mechanism to the fourth walking mechanism are the same, and the robot is driven to move forwards on the netting. When the robot needs to turn, the first to fourth traveling mechanisms perform differential motions, such as: the speed of the first running mechanism is consistent with that of the second running mechanism, the speed of the third running mechanism is consistent with that of the fourth running mechanism, left turning can be realized when the first running mechanism and the second running mechanism are high in speed, and right turning can be realized when the third running mechanism and the fourth running mechanism are high in speed. The four rotary cleaning and brushing mechanisms transmit signals through the monitoring mechanism and then simultaneously perform rotary motion, and high-pressure water forms cavitation water jet through the rotary cleaning and brushing mechanisms to clean marine organisms on the netting. The underwater video transmitted back to the robot in real time through the monitoring mechanism feeds back the brushing effect, and the posture of the robot is adjusted in time.

It should be noted that the control chip (ATmega 128) used in the present invention is an application of the prior art, and those skilled in the art can implement the functions to be achieved according to the related description, or implement the technical features to be accomplished by the similar technology, and will not be described in detail herein.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. The robot for cleaning the netting of the marine ranch is characterized by comprising a rack, a traveling mechanism, a rotary cleaning mechanism, a propeller thrust mechanism and a monitoring mechanism, wherein the traveling mechanism is installed on the end surfaces of two sides of the rack and used for driving the rack to travel on a surface to be cleaned; at least one rotary brushing mechanism and a propeller thrust mechanism are respectively arranged on one side of the frame facing to and departing from the surface to be brushed; the rotary brushing mechanism is used for cleaning a surface to be brushed, which passes through the walking of the rack, and the propeller thrust mechanism is used for adjusting the pose of the rack; the monitoring mechanism is used for monitoring the motion condition of the travelling mechanism and controlling the travelling mechanism, the rotary brushing mechanism and the propeller thrust mechanism to work according to monitoring information.

2. The marine ranch netting cleaning robot of claim 1, wherein said frame comprises a support, mounting members, at least two of said mounting members being oppositely disposed by said support.

3. The marine ranch netting robot of claim 2, wherein a float set is provided between the mounts to provide buoyancy to the robot.

4. The marine ranch netting cleaning robot according to claim 1, wherein the traveling mechanism comprises a traveling driving part and a plurality of crawler groups, every two of the crawler groups are oppositely installed on the end faces of the two sides of the frame, the crawler groups on the same side are connected through a transmission belt, the traveling driving part and the crawler groups are coaxially installed, and the traveling driving part drives the crawler groups to rotate.

5. The marine ranch netting cleaning robot of claim 4, wherein an adjusting member connected with the transmission belt is installed on the frame, and the tension of the transmission belt is adjusted through the adjusting member.

6. The marine ranch netting cleaning robot according to claim 1, wherein the rotary cleaning mechanism comprises a cleaning driving member, a cleaning disc arranged on the frame and having a belt wheel in transmission connection with the cleaning driving member, at least two groups of nozzle groups are arranged on the cleaning disc, the nozzle groups are connected with a high-pressure water supply end through a connecting pipeline, and the cleaning driving member drives the cleaning disc to rotate so that the nozzle groups generate cavitation jet.

7. The marine ranch netting cleaning robot of claim 6, wherein the nozzle group comprises at least two nozzles, and the water spraying directions of the two nozzles form an included angle.

8. The marine ranch netting cleaning robot of claim 1, wherein a portion of said propeller thrust mechanism is rectangular or square and is mounted on a frame in the middle of said traveling mechanism, and another portion of said propeller thrust mechanism is disposed at the geometric center of said portion of said propeller thrust mechanism.

9. The robot for cleaning netting of marine ranch according to claim 1, wherein the monitoring mechanism comprises a control module, a camera module connected with the control module, and a power supply module, the camera module is used for monitoring the motion condition of the traveling mechanism and transmitting the motion condition to the control module, the control module controls the operation of the traveling mechanism, the rotary cleaning mechanism and the propeller thrust mechanism according to the monitoring information transmitted by the camera module, and the power supply module provides electric energy.

10. The marine ranch netting cleaning robot of claim 9, wherein the control module is communicatively connected with a remote operation end, and the remote operation end remotely controls the work of the marine ranch netting cleaning robot through the control module.